An Improved Reeds–Shepp and Distributed Auction Algorithm for Task Allocation in Multi-AUV System with Both Specific Positional and Directional Requirements
Hongfei Li,
Daqi Zhu,
Mingzhi Chen
et al.
Abstract:Task assignment is of paramount importance in multi-AUV systems, particularly in applications such as bridge inspection where task execution is direction-specific. In such scenarios, the underactuation of AUVs is a critical factor that cannot be ignored. Therefore, it is essential to consider the AUV’s kinematic model comprehensively to ensure minimal energy consumption during task execution. In this paper, we introduce an improved Reeds–Shepp algorithm in conjunction with a distributed auction approach. We tr… Show more
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